ButterworthFilter.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <ArmarXCore/interface/observers/Filters.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/observers/exceptions/user/InvalidTypeException.h>
 
#include "DatafieldFilter.h"
 
namespace armarx
{
    template <class IceBaseClass, class DerivedClass>
    class GenericFactory;
}
 
namespace armarx::filters
{
    class ButterworthFilter : public ButterworthFilterBase, public DatafieldFilter
    {
        template <class BaseClass, class VariantClass>
        friend class ::armarx::GenericFactory;
 
    protected:
        ButterworthFilter();
 
    public:
        ButterworthFilter(double frequency, int sampleRate, PassType passType, double resonance);
        void setInitialValue(double value);
        /**
         * @brief This filter supports: Int, Long, Float, Double
         * @return List of VariantTypes
         */
        ParameterTypeList getSupportedTypes(const Ice::Current& = Ice::emptyCurrent) const override;
 
 
    private:
        /// Array of input values, latest are in front
        std::vector<double> inputHistory = std::vector<double>(2, 0.0);
 
        /// Array of output values, latest are in front
        std::vector<double> outputHistory = std::vector<double>(3, 0.0);
 
 
        // DatafieldFilterBase interface
    public:
        void update(Ice::Long,
                    const VariantBasePtr& value,
                    const Ice::Current& = Ice::emptyCurrent) override;
        void update(double newInput);
        VariantBasePtr getValue(const Ice::Current& = Ice::emptyCurrent) const override;
        double getRawValue() const;
        VariantBasePtr calculate(const Ice::Current& = Ice::emptyCurrent) const override;
 
        void reset(double frequency, int sampleRate, PassType passType, double resonance);
 
        // DatafieldFilterBase interface
    public:
        StringFloatDictionary getProperties(const Ice::Current&) const override;
        void setProperties(const StringFloatDictionary& values, const Ice::Current&) override;
    };
 
} // namespace armarx::filters